Automatic shoe edge processing machine

ABSTRACT

A shoe edge processing machine comprises means ( 26, 27 ) of gripping a shoe along an axis ( 31 ) virtually perpendicular to the shoe, shoe processing means ( 16 ), relative movement means ( 12, 22 ) for the shoe and processing means for causing these processing means ( 16 ) to travel the edge of a shoe held in the gripping means ( 26, 27 ). Advantageously the gripping axis ( 21 ) rotates to cause the entire peripheral edge of the shoe torn under the processing head. Powered jaws ( 42, 43 ) provide positioned means for the shoe to allow its correct gripping by the gripping means ( 26, 27 ).

The present invention relates to an innovative automatic shoe edgeprocessing machine.

There are ever more shoes with amply shaped soles and/or very high edgecovering the outer contour of the shoe. In the prior art edge processingof such shoes e.g. for carding and spreading of the glue is still fullymanual because proposals for the use of conventional processing machinesdesigned i.e. for low-edge or unshaped shoes have proven unsatisfactory.These known machines are made for processing the shoe bottom and theshoe edge is usually processed in them only accidentally and in a slightmeasure when the processing tool moves near the perimeter of the bottom.Even equipping these known machines with a modified tool, edgeprocessing remains unsatisfactory as to both quality and extension ofthe zone processed.

The general purpose of the present invention is to remedy the abovementioned shortcomings by making available a machine which would allowsatisfactory shoe edge processing even with very high and shaped edges.

In view of this purpose it was sought to provide in accordance with thepresent invention a shoe edge processing machine comprising means ofgripping the shoe in a direction parallel to an axis virtuallyperpendicular to the shoe bottom, shoe processing means and automaticmovement means for the relative movement between the shoe and theprocessing means for causing these processing means to travel the edgeof a shoe held in the gripping means.

To clarify the explanation of the innovative principles of the presentinvention and its advantages compared with the prior art there isdescribed below with the aid of the annexed drawings a possibleembodiment thereof by way of non-limiting example applying saidprinciples. In the drawings:

FIG. 1 shows a diagrammatic side elevation view of a machine inaccordance with the present invention,

FIG. 2 shows a plan view of the machine of FIG. 1,

FIG. 3 shows an enlarged view of a detail of a carriage of the machineof FIG. 1 for gripping and positioning a shoe taken along plane of cutIII—III of FIG. 2,

FIG. 4 shows an enlarged view of the cross section IV—IV of FIG. 3,

FIG. 5 shows a view of another detail of the positioning and grippingcarriage taken along plane of cut V—V of FIG. 2,

FIG. 6 shows a view of an alternative embodiment of the carriage of FIG.3,

FIG. 7 shows and end view of the carriage of FIG. 6,

FIG. 8 shows a view of an alternative embodiment of the carriage detailshown in FIG. 5 and,

FIG. 9 shows a diagrammatic cross sectioned plan view of an advantageousembodiment of a detail of the machine in accordance with the presentinvention.

With reference to the figures and as may be seen well in FIGS. 1 and 2 amachine in accordance with the present invention and designated as awhole by reference number 10 comprises a bed 11 on which a firstcarriage 12 runs along transverse guides 13 by means of an actuator 14.The carriage 12 supports a projecting arm 15 supporting in turn theprocessing head 16. The figure shows a carding head with rotatingcarding tool 17. A virtually prior art gluing head, a brushing head, avarnishing head or in general a finishing head can be readily imaginedby one skilled in the art.

The processing head has movement means to provide controlled movementsinto the desired position in the space with respect to the surfaces tobe processed. For example it has been found advantageous to supply thehead with two powered rotation axes of which one is vertical 18 and oneinclined 19 and which meet at the tool's processing point. The arm 15can also move vertically along guides 20 on the carriage 12. Thisvertical movement is controlled by an actuator 21.

Under the processing head 16 are gripping and movement means for a shoe25 along an axis virtually perpendicular to the shoe bottom. Inparticular these means comprise another carriage 22 for support of theshoe 25 to be processed. The carriage 22 runs by means of an actuator 24along guides 23 arranged transversely to the movement of the carriage12. Advantageously the guides 23 are arranged inclined towards the frontof the machine (left in FIG. 1) to allow easier access by the operatorwho installs on and removes from the machine the shoes to be processed.The movement of the carriage 22 along the guides 23 has an extensionsuch as to allow the processing head 16 to run at least the entirelength of a shoe installed on the carriage 22. In addition, for safetyreasons also, it is preferable that the length of the guides 23 be suchthat the carriage 22 can move into an advanced position (shown inFIG. 1) such as to be readily loadable and unloadable by the operatorwithout interference with the overlying processing head. As may be seenwell in FIGS. 1 and 2 the carriage 22 is designed to receive and retainthe shoe in a position reclining on one side so as to present the otherside to the processing head 16. The shoe has its length arrangedparallel to the guides 23.

As seen in FIG. 1 it is advantageous that the processing head have arotating tool with rotation axis virtually parallel to the shoe grippingaxis and in particular that the rotating tool have its work axis, i.e.the axis along which it draws near the surface to be processed, directedvirtually perpendicular to the gripping axis.

As may be seen in FIGS. 2 and 3 the stop device for the shoe on thecarriage 22 comprises a pair of facing holding members 26, 27. Themember 26 is made in the shape of a plate to rest on the bottom of theshoe at the heel zone. The member 27 is made in the shape of a swingingplate designed to rest on the instep of the form and is pivoted at 28 tobe adaptable to the inclination of the supporting point. The plate 27 issupported on the stem 29 of a cylinder 30 to be thrustable stronglyagainst the shoe to hold it clamped between the plates 26, 27. Bothplates rotate freely around the common axis 31. The plate 27 rotatesfreely while the plate 26 has its rotation axis connected to a motor 32by means of a belt transmission 33. To be adaptable to the height ofdifferent shoes the unit made up of the plate 27 and the cylinder 30 issupported on a carriage 34 moving parallel to the axis 31 by means of ascrew & nutscrew coupling 35 operated by a motor 36 by means of a belttransmission 37. This can also be seen in FIG. 4 where a sensor 40 fordetection of the exact position of the carriage 34 along its guides 41is also shown.

As seen in FIG. 2 the plates 26 and 27 advantageously run along theextension of the shoe by means of screws 38 and handling wheels 39 toallow manual adjustment of their position depending on the shoe size.

As may be seen well in FIGS. 1 and 2 and in enlarged form in FIG. 5there is advantageously a positioning and centering device on thecarriage 22 also. This device comprises a pair of facing jaws 42, 43moving towards each other in the direction of the shoe axis to grip itbetween the heel and the tip. As may be seen well in FIG. 5 the jawshave a generally V shape in the plane of the shoe to facilitate holdingit on the shoe and allow accurate centering. The jaws are supported on apair of guides 44 parallel to the length of the shoe. The front jaw 42runs along the guides by means of an actuator 48 (FIG. 2) while the jaw43 is powered by means of a screw & nutscrew coupling 45 controlled by amotor 46. A sensor 47 measures the exact position of the jaw 43 whichacts as a position reference as clarified below.

Operation of the entire machine is controlled by a control unit 49 e.g.an appropriately programmed microcontroller unit known in itself andtherefore not further shown nor described. Commands can be delivered bymeans of a keyboard 50.

FIG. 6 shows a variant embodiment of the carriage 22. For the sake ofconvenience parts similar to those of the carriage of FIG. 3 aredesignated by the same reference numbers increased by 100. There is thusa carriage 122 with a facing pair of gripping or holding members 126,127 for gripping a shoe 125 along the axis 131 virtually perpendicularto the shoe bottom. The member 127 is supported in a rotating manner ona carriage 134 running parallel to the axis 131.

The position adaptation movement of the carriage 134 is again achievedwith a screw & nutscrew coupling 135 driven by a motor 136 through atransmission 137. In the embodiment of FIG. 6 the piston 130 for holdingand release of the shoe (designated by 30 in FIG. 3) is coaxial with thescrew & nutscrew coupling with the cylinder piston providing thenutscrew.

FIG. 6 also shows a holding device 160 which ensures stopping of therotation of the plate 127 and consequently of the shoe 125 in a desiredusually horizontal position for the loading and unloading operations andbeginning of processing. The device 160 comprises an actuator 161 whichinserts on command a holding pin 162 in a recess 163 made in a suitableposition in the shaft 164 for rotation of the plate 127 around the axis131. As it is advantageous that the angular holding position of theplate 127 be slightly different according to whether the shoe to beprocessed is for the right or left foot the actuator 160 issupported insuch a manner as to have limited angular movement around the axis 131.This limited angular movement can be held in two different angularpositions by means of a second actuator 165 as may be seen in FIG. 7 inwhich the carriage of FIG. 6 is seen from its right end. In FIG. 7 theactuator 165 (e.g. compressed air driven) is in a central position andit is seen that it can move on command to the right or left andconsequently the plate on which the actuator 161 is mounted can rotatearound the axis 131 so as to select one or two different angularpositions.

FIG. 8 shows a variant embodiment of the shoe positioning and centeringdevice shown in FIG. 5. This variant comprises a pair of facing V-shapedjaws 142, 143 moving towards each other in a direction axial to the shoeto grip it between the heel and the tip.

The front jaw 124 runs on the guides 144 driven by the actuator 148 andits final position against the shoe tip is read by a sensor 168. Therear jaw 143 runs on similar guides 169 driven by a second actuator 146.

On the guides 169 also runs a reference member 170 driven by a screw &nutscrew coupling 171 powered by a motor 172. The position of thereference member 170 is read by a sensor 147. The member 170 acts as amechanical stop for the jaw 143 whose actuator can be a mere ON/OFFpiston (double action or with spring return).

In this manner the front jaw 142 and the stop 170 can be positionedaccurately for the model and size of the shoe to be processed. Then theshoe centering entered each time in the machine can be performed merelyby operating the actuator of the jaw 143 to push it against the stop170.

As accurate movement of the front jaw and the stop 170 is performed onlywhen the shoe model or size are changed there is high machine operatingspeed.

As shown again in FIG. 8 the machine can also comprise a device 173 forautomatically detecting whether the shoe being processed is for theright or left foot so as to set the automatic drive means (12, 22, 49,122) accordingly to adapt the tool trajectory.

The device 173 comprises a feeler made up of a shaped rod 174 driven byan actuator 175 with a position sensor. Once the shoe is positioned onthe machine the actuator 175 drives the rod 174 in the direction of thearrow of FIG. 8 so as to place the rod tip against the shoe edge. Therod is sized to touch the shoe in its median zone where there is or isnot a recess according to whether the shoe is for the right or leftfoot. From the angular position reached by the rod it is possible todetermine whether the shoe mounted is for the right or left foot.

FIG. 9 shows a partial cross-section of an advantageous embodiment ofholding member 126. As may be seen in this FIG seen from above withrespect to FIG. 6 the holding member is made up of a first bearingmember 176 and a second bearing member 177 designed to rest respectivelyon the heel zone and the sole zone of the shoe 125 to be processed.

The bearing member 176 is supported by and integrated with the poweredpart which rotates around the axis 131. The cylinder of the linearactuator 167 has its stem 178 fixed and its body 179 bearing the pin 180in such a manner as to rotate freely around the axis. To the head of thepin 180 is hooked a lever 181 with its fulcrum at 182 and bearing at itsfree end the bearing member 177. Operating the actuator 167 moves therest 176 and simultaneously rotates the lever 181 to move the rest 177in the opposite direction to take it into a position determined by theheel height. This was found advantageous for accurate and steadypositioning of the shoe during processing.

The extent of the movements controlled by the actuator 167 can be takenaccurately by a sensor 183 connected by a rack to the cylinder 179.

In use, using the keyboard 50 the operator enters the shoe number to beprocessed or alternatively the shoe number can be read automatically inaccordance with known techniques. The control unit commands the machineto ensure that the shoe is positioned in the correct position withrespect to the gripping axis. Typically this will be in a mean positionor with the form instep opposite the axis 31 perpendicular to the shoe.For this purpose the control unit moves the jaws and the variouscarriages and members to adapt the holding device to the shoe size andmodel. These settings can be performed only once at the beginning ofprocessing and remain unchanged until the shoe model or number ischanged.

The operator then positions the shoe on the carriage 22, 122 between thejaws 42, 43 or 142, 143 by resting it with the rear part against thereference jaw and operates the machine operation cycle. The jaw 142 (or143) moves towards the shoe holding position so that joint action of thetwo jaws 42, 43 or 142, 143 centers the shoe both transversely andlongitudinally.

Then the cylinder 30, 130 is operated to push the swinging plate 27, 127against the form instep plane so as to clamp the shoe between the plates26 and 27 or 126, 127. After clamping, the two jaws 42, 43 or 142, 143back off to move into a rest position far from the shoe.

The carriage 22, 122 backs until it takes the shoe under the processinghead 16 and the latter descends to move the tool 17 into contact withthe edge to be processed.

The starting point of the processing can be a point on the side near thebeginning of the heel seat. After positioning the shoe and the tool thecarriage 22, 122 moves to the rear part (away from the operator) toprocess a side until the center of the arch with which the tip can beassimilated moves onto the tool axis. Now the motor 32, 132 is operatedso that the shoe begins to rotate around the axis 31, 131 to take theshoe tip upward.

Simultaneously the carriage 22, 122 advances towards the operator. Thetwo movements are synchronized in such a manner that the tip centermoves along a segment perpendicular to the carriage running plane andcoinciding with the tool working axis. After completing 180° therotation stops and the carriage 22, 122 which in the meantime hasreturned to its starting position, advances again until the center ofthe arch with which the heel seat can be assimilated moves onto the axisof the tool.

The shoe now rotates by 180° again to raise the shoe while the carriage22, 122 returns towards the operator again with a movement such that theheel seat arch center moves along a segment perpendicular to thecarriage running plane and coinciding with the tool working axis. Afterthe 180° rotation the carriage 22, 122 backs further until it takes thepoint of departure under the tool 17.

In this manner the entire 360 degrees of the edge of the shoe aretraveled by the tool.

The cycle is now finished and the machine can be unloaded and reloadedwith another shoe to be processed.

Of course during rotation of the shoe appropriate operation of thecarriage 12 and the other tool positioning operations allows followingany edge configuration and direction.

Programming the paths can be done from point to point during a previousself-learning stage before normal machine operation. The control system49 then controls the five (or six) axes of the machine automatically insuch a manner as to synchronize the movements and automatically preparethe pattern of movement of the carriage 22, 122 during rotation of theshoe depending on the size of the shoe in such a manner as to alwayskeep the desired point (the center of the arch of the tip and/or heelseat) on one segment perpendicular to the running plane of the carriage22, 122 whose extension passes through the tool contact point on theshoe.

If the right or left foot shoe detection device 173 is used it isoperated before the beginning of shoe processing to adapt the trajectoryof the tool path on the shoe accordingly. In addition the detectionsensors of the mutual positions of the centering jaws can supply asignal confirming the size of the shoe mounted in the machine. Naturallythe above description of an embodiment applying the innovativeprinciples of the present invention is given by way of non-limitingexample of said principles within the scope of the exclusive rightclaimed here.

For example as mentioned above the tool can be different from that shownin the figures, depending on the processing it is desired to perform.

What is claimed is:
 1. Shoe edge processing machine comprising a shoegripping device (26,27,126,127) for gripping a shoe in a directionparallel to an axis (31,131) virtually perpendicular to a shoe bottom,means (16) for processing the shoe and means (12,22,49,122) forproducing relative movement between the shoe and the means (16) forprocessing the shoe for causing the means(16) for processing a shoe totravel an edge of a shoe held in the shoe gripping device(26,27,126,127), the shoe gripping device comprising a pair of grippingmembers(26,27,126,127) powered for relative movement towards each otherto clamp the shoe between them with a first member (26,126) of the pairbeing designed to rest on the bottom of the shoe and the other member ofthe pair being designed to rest on a leading end of an instep of a formon which the shoe to be processed is mounted, the shoe gripping devicealso comprising a pair of facing jaws (42,43,142,143) powered to bemutually movable towards each other in a direction transverse to thedirection of movement of the pair of gripping members (26,27,126,127) togrip the shoe in a longitudinal direction on command and position theshoe for gripping by the pair of gripping members (26,27,126,127). 2.Machine in accordance with claim 1 characterized in that the shoegripping device is mounted on a first carriage powered to be movable ina direction parallel to the longitudinal extension of the shoe and themeans for processing the shoe comprise a processing head (16) supportedon a second powered carriage (12) movable in a direction transverse tothe shoe.
 3. Machine in accordance with claim 2 characterized in thatthe processing head is powered to rotate along a pair of axes (18,19)which meet near one processing end (17) of said head.
 4. Machine inaccordance with claim 2 characterized in that the gripping axis (31,131)is arranged virtually horizontal and parallel to the direction ofmovement of said second carriage (12).
 5. Machine in accordance withclaim 4 characterized in that it comprises a control unit (49) forsynchronization of movement of the carriage (22,122) with rotation ofthe shoe gripping device (26,27,126,127) around the gripping axis(31,131) to keep a point near the center of the arch of the tip and/orheel seat of the shoe being processed again on a segment perpendicularto the running plane of the carriage (22,122) and whose extension passesthrough a contact point of the processing tool on the shoe edge. 6.Machine in accordance with claim 1 characterized in that the at leastone member of the pair is powered to rotate around the gripping axis(31,131) of the shoe in such a manner as to turn the entire shoe edgeperimeter to be processed towards the means for processing the shoe, oncommand.
 7. Machine in accordance with claim 6 characterized in that itcomprises a holding member (160) which can be operated to hold in atleast one predetermined angular position around the axis (31,131) atleast one of said gripping members (26,27,126,127).
 8. Machine inaccordance with claim 7 characterized in that the holding member (160)moves on command to select one of two different angular positions. 9.Machine in accordance with claim 1, characterized in that the jaws ofthe pair have a V configuration for transverse centering of the shoetherein.
 10. Machine in accordance with claim 1, characterized in that afirst jaw (43, 142) of the pair is powered in a controlled manner in aposition to be positionable in a predetermined reference position andthe other jaw (42,143) of the pair is powered to hold the shoe againstsaid first jaw (43,142).
 11. Machine in accordance with claim 10characterized in that it comprises a holding member (170) against whichthe movement of the powered jaw (143) stops during tightening of theshoe between the jaws with said holding member (170) being in turnpowered for its accurate positioning on command in a position determinedto correspond to the tightening position of said powered jaw. 12.Machine in accordance with claim 1 characterized in that one (27,127) ofthe pair of said members (26,27,126,127) is powered to move in acontrolled manner in a position to be positionable at a predetermineddistance from the other member of the pair and comprises an actuator(30,130) for thrusting it towards the other member of the pair. 13.Machine in accordance with claim 1 characterized in that the processinghead (16) is chosen from among a carding head, a gluing head and abrushing head.
 14. Machine in accordance with claim 13 characterized inthat the processing head has a rotating tool with rotation axisvirtually parallel to said shoe gripping axis.
 15. Machine in accordancewith claim 13 characterized in that the processing head has a rotatingtool with direct working axis virtually perpendicular to the grippingaxis.
 16. Machine in accordance with claim 1 characterized in that thegripping member (126) designed to rest on the bottom of the shoe ispowered for its accurate positioning on command along a directionparallel to said axis (31,131) virtually perpendicular to the shoebottom.
 17. Machine in accordance with claim 1 characterized in that itcomprises a sensor (173) for recognition of the right or left foot shoefor setting the correct corresponding movement of means (12,22,49,122)for producing relative movement between the shoe and the means (16) forprocessing the shoe.
 18. Machine in accordance with claim 17characterized in that the sensor (173) comprises a feeler made up of ashaped rod (174) driven by an actuator (175) with a position sensor withthe rod being commanded to rest on the shoe gripped in the machine insuch a manner that the right or left foot shoe information is taken fromthe position reached by the rod and detected by the position sensor. 19.Machine in accordance with claim 1 characterized in that the member(126) designed to rest on the shoe bottom comprises a first bearingmember (176) in the shoe heel zone and a second bearing member (177) inthe shoe sole zone.
 20. Machine in accordance with claim 19characterized in that the bearing members (176,177) are supportedkinetically to be movable on command along the gripping axis (131) withthere being a corresponding movement of the bearing member in theopposite direction upon movement of the heel zone bearing member (176)in one direction.
 21. Machine in accordance with claim 20 characterizedin that the heel zone bearing member (176) is supported at the head ofan actuator (167) for movement along the gripping axis (131) and thesole zone bearing member (177) is supported on a lever (181) connectedto said actuator for simultaneous movement in the opposite direction.22. Shoe edge processing machine comprising a shoe gripping device (26,27,126,127) for gripping a shoe in a direction parallel to an axis(31,131) virtually perpendicular to a shoe bottom, means (16) forprocessing the shoe and means (12, 22,49,122) for producing relativemovement between the shoe and the means (16) for processing the shoecausing said means(16) for processing the shoe to travel an edge of theshoe held in the shoe gripping device (26,27,126,127), the shoe grippingdevice (26,27,126,127) comprising a pair of gripping members (26,27,126,127) powered for relative movement towards each other to clamp theshoe between them and the shoe gripping device (26,27,126,127) furthercomprising means (42,43,142,143) for gripping the shoe in a longitudinaldirection on command and for positioning the shoe in a position to begripped by the pair of gripping members (26,27,126,127).
 23. Machine inaccordance with claim 22, characterized in that the pair of grippingmembers (26,27,126,127) comprises a first member (26,126) designed torest on the bottom of the shoe and a second member (27,127) designed torest on the lead end of the instep of a form in which the shoe to beprocessed is mounted.
 24. Machine in accordance with claim 22,characterized in that the means for gripping a shoe in a longitudinaldirection comprises a pair of facing jaws (42,43,142, 143) powered to bemutually movable towards each other in a direction transverse to thedirection of movement of the pair of gripping members (26,27,126,127).